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Daunizeau, Loïc. "Développement de la thérapie ultrasonore conformationnelle par voie interstitielle pour le traitement du carcinome hépatocellulaire". Electronic Thesis or Diss., Lyon, 2020. http://www.theses.fr/2020LYSE1326.
Pełny tekst źródłaHepatocellular carcinoma is the most common primary cancer of the liver. Interstitial thermal ablation procedures constitute a type of curative treatments for this cancer. Given the physical nature of the phenomenon used to modify temperature (radio frequency, micro wave, laser, cryotherapy), those methods may not be able to generate a conformal treatment for a given tumor shape. In some cases, this limitation may induce the thermal ablation of a large volume of non-tumor tissues. The use of an ultrasound interstitial probe mounted with a multi-element transducer capable of generating high intensity focused ultrasound (HIFU) may theoretically help to overcome this limitation. Also a transducer with an important number of elements may also provide in situ imaging. As a first step, the design of a transducer for interstitial ultrasound probe was studied. A specific configuration has been proposed for the treatment of tumors with a diameter of 4 cm. The question of the treatment planning method to adopt to reach an optimal conformal treatment has been then addressed by comparing numerical simulations of different strategies. All strategies were sufficiently conformal and none presented real assets compared to the others. Ultrasound focusing in itself provided the desired conformal thermal ablation. Finally, a robotic platform was developed for driving interstitial dual mode ultrasound probes, both in imaging and in therapy mode. This platform allowed the automatic treatment planning of in vitro tumor mimic phantoms, based on 3D ultrasound reconstruction from the B mode images obtained in situ by the interstitial probe. However, in therapy mode, the probes did not reach their specifications and did not manage to create thermal lesions in in vitro liver tissue sample. The modularity of the robotic platform allowed driving a different HIFU system, which was more robust. With this system, the platform managed to perform with success an automatic treatment planning and then the associated HIFU treatment in in vitro tissue sample
Bienfait, Eric. "Pratic : Programmation de Robot Assistée par Traitement d'Image et Caméra". Lille 1, 1987. http://www.theses.fr/1987LIL10086.
Pełny tekst źródłaLepers, Bernard. "Coopération dynamique et sécurité homme-machine : applications en téléopération et chirurgie assistée par ordinateur". Lille 1, 1990. http://www.theses.fr/1990LIL10048.
Pełny tekst źródłaAmara, Maher. "Contribution à l’étude des aspects énergétiques en robotique mobile". Lyon, INSA, 1991. http://www.theses.fr/1991ISAL0032.
Pełny tekst źródłaThe purppse of this thesis is to develop a methodology to study and analyse energetic aspects in mobile robots. In the first section we globally analyse the problematic question attached to the energy environment of the mobile robot and highlight the various factors which intervene in their energetic behaviour. In the second section the methods (double kinetic energy-power rate) and (effort-transitory effort-velocity used for actuators choice are analysed with bond graph models. One extension of the first method is proposed and for the second method a computer-aided choice of electro hydraulic servovalve-cylinder set is established and is based on the definition of planes representing the constraint of their maximal dynamic capabilities. The third section shows that the scattering formalism constitutes an alternative formulation to bond graph formalism for physical systems representation. An original procedure to match bond graph and scattering formalisms is developed in the fourth section. Based on these formalisms the method MACSYMEN (aided-Design Method of multi energetic systems) is developed and gives designers tools for qualitative and quantitative linear systems energy analysis. The last section illustrates for the legged robot RHESUS the developed software of this method
Nageotte, Florent. "Contributions à la suture assistée par ordinateur en chirurgie mini-invasive". Université Louis Pasteur (Strasbourg) (1971-2008), 2005. https://publication-theses.unistra.fr/public/theses_doctorat/2005/NAGEOTTE_Florent_2005.pdf.
Pełny tekst źródłaSuturing is a common but difficult task in laparoscopic surgery. The motions of the surgical instruments are limited because of the trocart constraint and the vision of the scene obtained through an endoscopic camera is reduced to 2D images. Consequently, it is difficult for the surgeons to plan the movements of the suturing needle. Usually, the stitching task is realized by multiple trials and undesirable deformations of the tissues are involved. In order to help the surgeons to plan the motions of a circular needle through thin tissues, we propose to study the kinematics of the needle and the needle-holder in laparoscopic surgery. Firstly, we have been interested in finding pathes between two points on the surface of the tissu which do not involve deformations. We show that there are simple conditions on the trocart position and the needle handling parameters which guarantee the existence of ideal paths. Then, we explain a method to practically plan special paths for which the deformation of the tissue is minimal. Planning paths requires the knowledge of some 3D information such as the position of the needle in the needle-holder and the position of the trocart with respect to the tissues. We propose to use the color endoscopic camera to get this information. We use fast and simple image processing techniques to extract visual cues from the images in real-time. Then the 3D positions are obtained using a virtual visual servoing scheme which iteratively minimizes the forward projection error in the images. Finally, we propose augmented-reality tools to assist the surgeon during stitching. We also show by controlling a medical robot using a 2D visual servoing scheme, that semi-autonomous suturing is possible in laboratory conditions. This exploratory research work opens the path for a complete computer-aided suturing system
Messeri, Anne. "Terminologie juridique pénale et pénitentiaire biblingue français-italien assistée par ordinateur". Nice, 2001. http://www.theses.fr/2001NICE2006.
Pełny tekst źródłaBlanchard, Benoît. "Contribution à la planification de trajectoires de robots manipulateurs dans un environnement connu convexe". Poitiers, 1996. http://www.theses.fr/1996POIT2380.
Pełny tekst źródłaFortin, Thomas. "Utilisation de la robotique médicale dans la réalisation d'un guide de perçage pour la phase chirurgicale en implantation orale". Université Joseph Fourier (Grenoble), 1994. http://www.theses.fr/1994GRE19003.
Pełny tekst źródłaBen, Amar Chokri. "Modélisation et placement automatique de capteurs-vision : Intégration d'un module-vision dans un système de CAO-robotique". Lyon, INSA, 1994. http://www.theses.fr/1994ISAL0129.
Pełny tekst źródłaThe simulation and the design of production procedures present many advantages: time saving, not stopping the production line, optimizing investments, etc. One of the latest limitations to the efficiency of simulation software is that there is no sophisticated means of sensor simulation. This limitation is also apparent in industrial vision systems which are used more and more in production lines for quality control and/or part identification in manufacturing or supply processes. To compensate for this inadequacy, we propose a simulator for complex sensors such as CCD cameras. This simulator would enable virtual images, equivalent to those seen by a real camera, to be used to simulate the tasks such as form recognition or dimensional control. The function of this new tool is absolutely necessary for simulation and off-line programming of a control station devoted to vision. To complete this tool, it is necessary to study the possible camera positions in the control station. This choice is not evident because it depends on resolution, depth of field, field of vision, collision, etc. For this reason, we associate to this simulation an automatic procedure for camera positioning. This association enables a virtual vision station to be created which can be integrated into a CAD/CAM-Robotic system. In this way we obtain a complete simulation tool including robots and vision systems. This vision module is validated by two applications: dimensional control and robotic assembling
Abdelwahed, El Hassan. "Modélisation géométrique tridimensionnelle des solides : description topologique, évaluation de la frontière : application à la robotique". Montpellier 2, 1991. http://www.theses.fr/1991MON20139.
Pełny tekst źródłaRambeaud, Patrick. "Contribution à la détection de collisions et à la génération d'un chemin optimal sur un polyèdre convexe". Poitiers, 1994. http://www.theses.fr/1994POIT2289.
Pełny tekst źródłaMazier, Bruno. "Mise en correspondance d'images multimodales appliquée à la visée pédiculaire assistée par ordinateur". Phd thesis, Université Joseph Fourier (Grenoble), 1992. http://tel.archives-ouvertes.fr/tel-00341638.
Pełny tekst źródłaDutreuil, Julien. "Modélisation 3D et robotique médicale pour la chirurgie : développement d'un protocole d'implantologie dentaire assistée par ordinateur et étude d'un cas clinique". Paris, ENMP, 2001. http://www.theses.fr/2001ENMP1026.
Pełny tekst źródłaComport, Andrew Ian. "Towards a computer imagination : robust real-time 3D tracking of rigid and articulated objects for augmented reality and robotics". Rennes 1, 2005. http://www.theses.fr/2005REN1S176.
Pełny tekst źródłaCaron, Sandy. "La protection des créations générées par intelligence artificielle par le droit d'auteur canadien". Master's thesis, Université Laval, 2018. http://hdl.handle.net/20.500.11794/34501.
Pełny tekst źródłaThe emergence of artificial intelligence programs capable of generating artistic works, musical works and literary works raises many stakes, especially in copyright since it becomes harder to notice the difference between creations made by a human and creations made by artificial intelligence. If these creations can nowadays be mistaken, then it is relevant to question ourselves about the legal system that is applicable to them. Not long ago, questions about copyright on work created by computer programs didn’t create debates since programs were only considered as a tool for the author’s use. However, the recent progress of artificial intelligence programs shows that their implication in the process of creation goes beyond simple assistance. Therefore, it becomes necessary to question ourselves on the identity of the work’s author, the copyright ownership and the opportunity of recognizing a juridical personality to the artificial intelligence.
Keriquel, Virginie. "Etude de la réparation osseuse en présence de produits d'ingénierie tissulaire construits in situ par bioimpression assistée par laser". Thesis, Bordeaux, 2014. http://www.theses.fr/2014BORD0383/document.
Pełny tekst źródłaThe development of Computer-Assisted Medical Interventions (CAMI) results from converging evolutions in medicine, physics, materials, electronics, informatics and robotics. CAMI aim at providing tools that allow the clinician to use multi-modal data in a rational and quantitative way in order to plan, simulate and execute mini-invasive medical interventions accurately and safely. In parallel, technological advances in the fields of automation, miniaturization and computer aided design and machining have also led to the development of bioprinting technologies which could be defined as the computer-aided, layer-by-layer deposition, transfer and patterning of biologically relevant materials. These results pave the way of using bioprinting technologies for Computer-Assisted Medical Interventions. More precisely, we show that 3D tissue constructs can be printed in vivo and in situ in relation with defect morphology. Interestingly, we demonstrate that printing cells in situ with a cell-level resolution tends to orientate tissue repair
Lucas, Yves. "Mise en correspondance de modèles Vision et CAO : Application à l'apprentissage hors-ligne des systèmes de vision dans un contexte CIM". Lyon, INSA, 1993. http://www.theses.fr/1993ISAL0007.
Pełny tekst źródłaOff-line programming of production tools from CAD/CAM data is a great step toward their integration according to a CIM context. The CAD-vision connection developed in this thesis extends to vision systems this programming mode already used to suppress manual learning on NC-machines and some industrial robots. This work includes a theoretical specification of the connection followed by a practical implementation. The CAD-vision connection is studied on three levels : models to match, hardware to interface and tasks to program. Concerning the models, we propose a view-dependent description, free of projective simplifications, based on spatial outlines. It combines a discriminating parametric description with a local description ensuring hypothesis consistency. The CAD model preprocessing outputs a compiled, vision oriented description, which makes matching easier. On the material level, we describe several programming modes, replacing samples learning, using post-processors, standard formats and artificial images. Finally, we delimit the application field of the CAD-vision connection, brought into operation on recognition and reconstruction tasks
Schrive, Etienne. "Étude et réalisation d'un système de conception assistée par ordinateur pour la robotique : application à la programmation graphique des robots de type SCARA". Montpellier 2, 1988. http://www.theses.fr/1988MON20142.
Pełny tekst źródłaAbdelhedi, Mohamed. "Étude et réalisation d'un système de conception assistée par ordinateur pour la robotique : application à la simulation et à l'évaluation des performances de robots". Montpellier 2, 1988. http://www.theses.fr/1988MON20141.
Pełny tekst źródłaBarral, David. "Contribution à l'optimisation de lignes robotisées en CAO robotique : application à IGRIP". Montpellier 2, 1999. http://www.theses.fr/1999MON20151.
Pełny tekst źródłaArmand, Jean-François. "Contribution à l'évaluation et à l'amélioration des performances de la programmation des robots-manipulateurs à partir d'un système de C. A. O". Montpellier 2, 1992. http://www.theses.fr/1992MON20052.
Pełny tekst źródłaMontillet, Denis. "Simulation et optimisation de la projection plasma robotisée". Montpellier 2, 1999. http://www.theses.fr/1999MON20154.
Pełny tekst źródłaVergely, Laurent. "Modélisation de capteurs : développement d'outils d'aide à la conception de cellules robotisées". Montpellier 2, 1989. http://www.theses.fr/1989MON20232.
Pełny tekst źródłaGosselin, Florian. "Développement d'outils d'aide à la conception d'organes de commande pour la téléopération à retour d'effort". Poitiers, 2000. http://www.theses.fr/2000POIT2275.
Pełny tekst źródłaRubbert, Lennart. "Conception de mécanismes compliants pour la robotique chirurgicale". Phd thesis, Université de Strasbourg, 2012. http://tel.archives-ouvertes.fr/tel-00801892.
Pełny tekst źródłaDoulcier, Joseph. "Implantation optimale d'un robot en fonction de la tâche à réaliser en environnement contraint. Analyse, synthèse et développement d'un module d'aide à l'implantation des robots". Marne-la-vallée, ENPC, 1993. http://www.theses.fr/1993ENPC9301.
Pełny tekst źródłaLavallée, Stéphane. "Gestes médico-chirurgicaux assistés par ordinateur : application à la neurochirurgie stéréotaxique". Phd thesis, Université Joseph Fourier (Grenoble), 1989. http://tel.archives-ouvertes.fr/tel-00335578.
Pełny tekst źródłaBano, Jordan. "Modélisation et correction des déformations du foie dues à un pneumopéritoine : application au guidage par réalité augmentée en chirurgie laparoscopique". Thesis, Strasbourg, 2014. http://www.theses.fr/2014STRAD010/document.
Pełny tekst źródłaAugmented reality can provide to surgeons during intervention the positions of critical structures like vessels. The 3D models displayed during a laparoscopic surgery intervention do not fit to reality due to pneumperitoneum deformations. This thesis aim is to correct these deformations to provide a realistic liver model during intervention. We propose to deform the preoperative liver model according to an intraoperative acquisition of the liver anterior surface. A deformation field between the preoperative and intraoperative models is computed according to the geodesic distance to anatomical landmarks. Moreover, a biomechanical simulation is realised to predict the position of the abdomino-thoracic cavity which is used as boundary conditions. This method evaluation shows that the position error of the liver and its vessels is reduced to 1cm
Voon, Lew Yan, i Lew Fock Chong. "Contribution au test intégré déterministe : structures de génération de vecteurs de test". Montpellier 2, 1992. http://www.theses.fr/1992MON20035.
Pełny tekst źródłaTerrissa, Saddek Labib. "Vision bio-fondée appliquée à l'analyse d'images". Le Havre, 2006. http://www.theses.fr/2006LEHA0001.
Pełny tekst źródłaThe environment recognition goes inevitably through the retina of alive beings. This component is a part of the central nervous system witch performs many processing, especially in motion detection and features extraction of a scene. These aspects are not reach the development level compared with static processing in artificial vision. For these reasons, we are developed a generic prototype of artificial retina inspired from biology witch we are titled Retina. This system is based on artificial neural network organised to simulate the radial variation of the acuity. The information is encoded through the implementation of analogue and impulse neurons. These retinal signal impulses are analysed in order to detect the variation of grey level in dynamic images. Moreover, we reconstitute these images using neural networks techniques and signal processing
Lavallée, Stéphane. "Gestes médico-chirurgicaux assistés par ordinateur : application à la neurochirurgie stéréotaxique". Phd thesis, Grenoble 1, 1989. https://theses.hal.science/tel-00335578.
Pełny tekst źródłaBernhardt, Sylvain. "Automatic localization of endoscope in intraoperative CT image : a simple approach to augmented reality guidance in laparoscopic surgery". Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD008/document.
Pełny tekst źródłaOver the past decades, minimally invasive surgery has progressively become more popular than open surgery thanks to greater clinical benefits. However, this kind of intervention introduced a loss of direct vision upon the scene for the surgeon. Introducing augmented reality to minimally invasive surgery appears to be a viable solution to alleviate this drawback and has thus been an attractive topic for the research community. Yet, correctly augmenting a laparoscopic scene remains challenging, due to the non-rigidity of abdominal tissues and organs. Therefore, the literature does not report a satisfactory approach to laparoscopic augmented reality, as such methods lack accuracy or require expensive and impractical additional equipment. In light of this, we present a novel paradigm to augmented reality in abdominal minimally invasive surgery. Based only on standard hybrid operating room equipment, our approach can provide the static relationship between the endoscope and an intraoperative 3D scan. Extensive experiments on a radio-opaque pattern quantitatively show that the accuracy of our augmentations is less than one millimeter. Tests on in vivo data further demonstrates the clinical potential of our approach in several realistic surgical cases
Loy, Rodas Nicolas. "Context-aware radiation protection for the hybrid operating room". Thesis, Strasbourg, 2018. http://www.theses.fr/2018STRAD001/document.
Pełny tekst źródłaThe use of X-ray imaging technologies during minimally-invasive procedures exposes both patients and medical staff to ionizing radiation. Even if the dose absorbed during a single procedure can be low, long-term exposure can lead to noxious effects (e.g. cancer). In this thesis, we therefore propose methods to improve the overall radiation safety in the hybrid operating room by acting in two complementary directions. First, we propose approaches to make clinicians more aware of exposure by providing in-situ visual feedback of the ongoing radiation dose by means of augmented reality. Second, we propose to act on the X-ray device positioning with an optimization approach for recommending an angulation reducing the dose deposited to both patient and staff, while maintaining the clinical quality of the outcome image. Both applications rely on approaches proposed to perceive the room using RGBD cameras and to simulate in real-time the propagation of radiation and the deposited dose
Doulcier, Joseph. "Implantation optimale d'un robot en fonction d'une tâche à réaliser en environnement contraint. Analyse, synthèse et développement d'un module d'aide à l'implantation des robots". Phd thesis, Ecole Nationale des Ponts et Chaussées, 1993. http://tel.archives-ouvertes.fr/tel-00523120.
Pełny tekst źródłaCandalh-Touta, Ninon. "Assistance à l'Apprentissage de la Dextérité en Laparoscopie". Thesis, Sorbonne université, 2018. http://www.theses.fr/2018SORUS297.
Pełny tekst źródłaLaparoscopic surgery is a minimally invasive surgery that becomes a standard for some procedures as its many benefits for the patient (esthetic and postoperative remission). Unfortunately, laparoscopic surgery also comes with mechanical, visual and ergonomic difficulties. Consequently, the learning of this surgery is long and difficult for the students in medical school. Traditionally, learning takes place in the operating room (ex: students assist the surgeon by navigating the camera). Operating a real patient is, however, very stressful and does not allow the possibility of repeating gestures. Depending on the procedure, the learning curve may be very slow with significant health and financial consequences. Under these conditions, learning outside of the operating room becomes necessary and laparoscopic simulators have been developed. Unfortunately, budget and time restrictions do not allow for effective training sessions outside of the operating room. Thus, the thesis presented concerns the improvement of laparoscopic surgery training during these simulator sessions outside of the operating room. First of all, it appeared in our research that during the training sessions, the students were not very guided in their actions and that they had no quantitative feedback on their performance. We first implemented a kinesthetic guidance as a virtual teacher for the student. Then we implemented two sensory feedbacks (visual and tactile) to have more active students in the correction of the laparoscopic gesture. Then we noticed that the student himself is not considered during the training sessions where the exercises are complex. Thus, we proposed two ideas to personalized the learning : - Consider the psychomotor skills of the students in the learning process in order to homogenize the groups of students and facilitate the teaching ; - Decompose the difficulties of laparoscopy to overcome the problem of lack of gradual training sessions
Esteveny, Laure. "Vers un actionnement sûr pour la radiologie interventionnelle robotisée". Thesis, Strasbourg, 2014. http://www.theses.fr/2014STRAD015/document.
Pełny tekst źródłaIn the context of interventional radiology, robotic-assisted surgery limits practitioners’ exposure to radiations and brings more accuracy to perform complex interventions. However, the presence of robot in the environment is a potential danger for the patient and the medical staff in case of unexpected interactions and manipulations.In this PhD thesis, we first focus on safety problems. An intrinsically safe mechanism is proposed. The achieved prototype allows to follow both planned trajectories and moving environments.Secondly, a guidance mechanism based on a passive approach is suggested. With a variable stiffness system, using a compliant mechanism, a resistive force is applied to the user which allows him to be guided in his gesture.Based on medical needs, we then study the possibility to integrate and generalize such systems to multiple degrees of freedom
Viana, do Espírito Santo Ilísio. "Inspection automatisée d’assemblages mécaniques aéronautiques par vision artificielle : une approche exploitant le modèle CAO". Thesis, Ecole nationale des Mines d'Albi-Carmaux, 2016. http://www.theses.fr/2016EMAC0022/document.
Pełny tekst źródłaThe work presented in this manuscript deals with automated inspection of aeronautical mechanical parts using computer vision. The goal is to decide whether a mechanical assembly has been assembled correctly i.e. if it is compliant with the specifications. This work was conducted within two industrial projects. On one hand the CAAMVis project, in which the inspection sensor consists of a dual stereoscopic head (stereovision) carried by a robot, on the other hand the Lynx© project, in which the inspection sensor is a single Pan/Tilt/Zoom camera (monocular vision). These two projects share the common objective of exploiting as much as possible the CAD model of the assembly (which provides the desired reference state) in the inspection task which is based on the analysis of the 2D images provided by the sensor. The proposed method consists in comparing a 2D image acquired by the sensor (referred to as "real image") with a synthetic 2D image generated from the CAD model. The real and synthetic images are segmented and then decomposed into a set of 2D primitives. These primitives are then matched by exploiting concepts from the graph theory, namely the use of a bipartite graph to guarantee the respect of the uniqueness constraint required in such a matching process. The matching result allows to decide whether the assembly has been assembled correctly or not. The proposed approach was validated on both simulation data and real data acquired within the above-mentioned projects
Karabagli, Bilal. "Vérification automatique des montages d'usinage par vision : application à la sécurisation de l'usinage". Phd thesis, Université Toulouse le Mirail - Toulouse II, 2013. http://tel.archives-ouvertes.fr/tel-01018079.
Pełny tekst źródłaCaravaca, Mora Oscar Mauricio. "Development of a novel method using optical coherence tomography (OCT) for guidance of robotized interventional endoscopy". Thesis, Strasbourg, 2020. http://www.theses.fr/2020STRAD004.
Pełny tekst źródłaThere exists an unmet clinical need to provide doctors with a new method that streamlines minimally invasive endoscopic treatment of colorectal cancer to single operator procedures assisted by in-situ and real-time accurate tissue characterization for informed treatment decisions. A promising solution to this problem has been developed at the ICube laboratory, in which the flexible interventional endoscope (Karl Storz) was completely robotized, so allowing a single operator to independently telemanipulate the endoscope and two insertable therapeutic instruments with a joint control unit. However, the robot-assisted flexible endoscope is subject to the same diagnostic accuracy limitations as standard endoscopy systems. It has been demonstrated that endoscopic optical coherence tomography (OCT) has a good potential for imaging disorders in the gastrointestinal tract and differentiating healthy tissue from diseased. Neither OCT, nor the robotized endoscope can solve the limitations of current standard of care for colon cancer management alone. Combining these two technologies and developing a new platform for early detection and treatment of cancer is the main interest of this work, with the aim of developing a state-of-the-art OCT imaging console and probe integrated with the robotized endoscope. The capabilities of this new technology for imaging of the interior of the large intestine were tested in pre-clinical experiments showing potential for improvement in margin verification during minimally invasive endoscopic treatment in the telemanipulation mode
Chalard, Rémi. "Robustesse à la variabilité du comportement mécanique du point d'insertion en chirurgie mini-invasive robotisée. Application à la biopsie de prostate". Thesis, Sorbonne université, 2019. http://www.theses.fr/2019SORUS591.
Pełny tekst źródłaMinimally Invasive Surgery (MIS) allows the surgeon to operate without cutting open the patient. This kind of surgery, which consists in the insertion of surgical tools through artificial or natural orifices, is spreading rapidly. Even though this technique presents numerous advantages for the patient, it presents many constraints for the surgeon. Many robotic devices have been developed to improve the working conditions of the surgeons. These solutions are based on a teleoperation or a co-manipulation of the surgical tool. The lever arm model has been used in the control of the instrument through an orifice. In this thesis, it is shown that a small calibration error in the lever arm problem can lead to a big static error and even to a divergence during automatic displacements in a Minimally Invasive Surgery context. To minimize the efforts applied to the insertion area, this thesis focuses on a free-wrist anthropomorphic robot. To automatically move with accuracy, the interaction between the robot wrist and the tool point needs to be known at every time step. Two estimators have been developed and implemented in a control law for a wrist free anthropomorphic robot. This control law has been tested on a experimental setup simulating the insertion of a surgical tool through an orifice. The need to take the tissues deformations into account once demonstrated for surgeries such as prostate or uterine biopsy, the control law has been used in a visual servoing loop based on ultrasound images. This visual servoing can be used to control the position of an ultrasound probe for prostate biopsies
Lamaury, Johann. "Contribution à la commande des robots parallèles à câbles à redondance d'actionnement". Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2013. http://tel.archives-ouvertes.fr/tel-01021423.
Pełny tekst źródłaJovančević, Igor. "Exterior inspection of an aircraft using a Pan-Tilt-Zoom camera and a 3D scanner moved by a mobile robot : 2D image processing and 3D point cloud analysis". Thesis, Ecole nationale des Mines d'Albi-Carmaux, 2016. http://www.theses.fr/2016EMAC0023/document.
Pełny tekst źródłaThis thesis makes part of an industry oriented multi-partners project aimed at developing a mobile collaborative robot (a cobot), autonomous in its movements on the ground, capable of performing visual inspection of an aircraft during short or long maintenance procedures in the hangar or in the pre-flight phase on the tarmac. The cobot is equipped with sensors for realizing its navigation tasks as well as with a set of optical sensors which constitute the inspection head: an orientable Pan-Tilt-Zoom visible light camera and a three-dimensional scanner, delivering data in the format of two-dimensional images and three-dimensional point clouds, respectively. The goal of the thesis is to propose original approaches for processing 2D images and 3D clouds, with intention to make a decision with respect to the flight readiness of the airplane. We developed algorithms for verification of the aircraft items such as vents, doors, sensors, tires or engine as well as for detection and characterization of three-dimensional damages on the fuselage. We integrated a-priori knowledge on the airplane structure, notably numerical three-dimensional CAD model of the Airbus-A320. We argue that with investing effort to develop robust enough algorithms and with the help of existing optical sensors to acquire suitable data, we can come up with non-invasive, accurate, and time-efficient system for automatic airplane exterior inspection. The thesis work was placed in between two main requirements: develop inspection algorithms which could be as general as possible and also meet the specific requirements of an industry oriented project. Often, these two goals do not go along and the balance had to be made. On one side, we were aiming to design and assess the approaches that can be employed on other large structures, for ex. buildings, ships. On the other hand, writing source code for controlling sensors as well as integrating our whole developed source code with other modules on the real-time robotic system, were necessary in order to demonstrate the feasibility of our robotic prototype
Hentz, Gauthier. "Outils numériques pour la conception de mécanismes". Thesis, Strasbourg, 2017. http://www.theses.fr/2017STRAD021/document.
Pełny tekst źródłaIn the medical and surgical background, robotics can be of great interest for safer and more accurate procedures. Size constraints are however strong and complex movements may be necessary. To date, the design of dedicated non-conventional mechanisms is then a difficult task because of a lack of generic tools allowing a fast evaluation of their performances. This thesis combines higher-order continuation and automatic differentiation to adress this issue through the introduction of a generic modelling method and a generic formalism for mechanism design. Our contributions especially concern the development of numerical tools for the evaluation of the workspace, of the singularity localization and nature, and for a higher-order sensitivity analysis. These tools are evaluated on reference mechanisms
Plaskos, Christopher. "Modélisation et conception d'outils robotises et de techniques de fraisage pour l'arthroplastie total du genou". Phd thesis, 2005. http://tel.archives-ouvertes.fr/tel-00329496.
Pełny tekst źródłaLes cliniciens restent néanmoins demandeurs d'une précision accrue et de possibilités additionnelles, qui semblent ne pouvoir être offertes que par de la robotique ou des ‘outils intelligents' couplés à de la navigation.
Dans ce travail, un nouvel outil robotique dédié au fraisage de l'os pour les chirurgies des PTG a été développé. Notre robot miniature, appelé PRAXITELES, est fixé directement sur l'os sur l'un des côté du genou, il positionne avec précision un guide de fraisage qui permet chirurgien de faire manuellement les coupes.
Le fraisage manuel est un acte difficile avec peu de stabilité, c'est pourquoi, un modèle prédictif a été formulé, et des tests ont été menés pour mieux le comprendre et pour l'améliorer. La physique de la coupe osseuse a d'abord été étudiée dans le cas le plus simple : coupe à grande vitesse orthogonale (2D) et oblique (3D). Les résultats ont ensuite été intégrés dans un modèle flexible pour la prédiction des forces de fraisage comme fonction des paramètres chirurgicaux. A partir de l'analyse des forces et de la stabilité, nous faisons des recommandations sur les techniques de fraisages les plus optimales et sur le choix des outils. Des résultats expérimentaux sur cadavre avec notre nouveau robot et avec ces techniques de fraisage sont très encourageants et nous espérons démarrer des essais cliniques dans un futurs proche.